System and method for generating code block map based on floor pattern recognition and system and method for recognizing location and orientation of robot based on floor pattern code string

Abstract

Provided is a technology for recognizing a location or orientation of a robot using patterns of a floor on which the robot travels, and the technology includes two interrelated sub-technologies. The first sub-technology is a technology for generating a code block map based on floor pattern recognition, in which a code block map is generated using patterns of a floor on which a robot travels, and the second sub-technology is a technology for recognizing a location and orientation of a robot based on a floor pattern code string, in which a location and orientation of a traveling robot are recognized using a generated code block map.

What is claimed is: 
     
         1 . A system for generating a code block map based on floor pattern recognition using patterns of a floor on which a robot travels, the system comprising:
 an image acquisition unit configured to acquire a captured image of a floor from a camera;   a unit pattern extractor configured to extract unit patterns from patterns of the floor included in the captured image;   a code assignment unit configured to assign predetermined identification codes to the unit patterns; and   a map generator configured to generate blocks corresponding to the unit patterns and generate a code block map by matching the identification codes to the blocks corresponding to the unit patterns.   
     
     
         2 . The system of  claim 1 , wherein the code assignment unit generates rotated unit patterns by rotating the unit patterns by a predetermined angle and assigns rotation identification codes to the rotated unit patterns, and
 the map generator generates blocks corresponding to the rotated unit patterns and generates the code block map by matching the rotation identification codes to the blocks corresponding to the rotated unit patterns.   
     
     
         3 . The system of  claim 2 , wherein the rotation identification codes include information on the predetermined angle by which the unit patterns are rotated to be the rotated unit patterns. 
     
     
         4 . The system of  claim 2 , wherein the code assignment unit assigns no rotation identification code to the rotated unit patterns when the unit patterns are identical to the rotated unit patterns. 
     
     
         5 . A method of generating a code block map based on floor pattern recognition using patterns of a floor on which a robot travels, the method comprising:
 acquiring, by an image acquisition unit, a captured image of a floor from a camera;   extracting, by a unit pattern extractor, unit patterns from patterns of the floor included in the captured image;   assigning, by a code assignment unit, predetermined identification codes to the unit patterns; and   generating, by a map generator, blocks corresponding to the unit patterns and generating a code block map by matching the identification codes to the blocks corresponding to the unit patterns.   
     
     
         6 . The method of  claim 5 , wherein the assigning of the predetermined identification codes comprises generating rotated unit patterns by rotating the unit patterns by a predetermined angle, and assigning rotation identification codes to the rotated unit patterns, and
 the generating of the code block map comprises generating blocks corresponding to the rotated unit patterns and generating the code block map by matching the rotation identification codes to the blocks corresponding to the rotated unit patterns.   
     
     
         7 . The method of  claim 6 , wherein the rotation identification codes include information on the predetermined angle by which the unit patterns are rotated to be the rotated unit patterns. 
     
     
         8 . The method of  claim 6 , wherein the assigning of the predetermined identification codes comprises assigning no rotation identification code to the rotated unit patterns when the unit patterns are identical to the rotated unit patterns. 
     
     
         9 . A system for recognizing a location and orientation of a robot, which travels in a predetermined space, based on a floor pattern code string using floor patterns imaged through a camera installed in the robot, the system comprising:
 a map acquisition unit configured to extract unit patterns from floor patterns of the predetermined space and acquire a code block map which is generated by assigning predetermined identification codes to the unit patterns;   a travel image acquisition unit configured to acquire a travel image of the floor patterns imaged through the camera;   a travel unit pattern extractor configured to extract travel unit patterns from the floor patterns included in the travel image;   a code string generator configured to generate a floor pattern code string by identifying predetermined travel identification codes corresponding to the travel unit patterns; and   a calculator configured to calculate a location and orientation of the robot by comparing the floor pattern code string with the identification codes of the code block map.   
     
     
         10 . The system of  claim 9 , wherein, when the floor pattern code string does not match the identification codes of the code block map, the calculator generates a corrected floor pattern code string by correcting the travel identification codes using a predetermined rotation value and calculates the location and orientation of the robot by comparing the corrected floor pattern code string with the identification codes of the code block map. 
     
     
         11 . The system of  claim 9 , wherein, when the floor pattern code string does not match the identification codes of the code block map, the calculator generates a rotated code block map by correcting the identification codes of the code block map using a predetermined rotation value and calculates the location and orientation of the robot by comparing the floor pattern code string with the corrected identification codes of the rotated code block map. 
     
     
         12 . The system of  claim 9 , wherein the code string generator changes a number of travel identification codes included in the floor pattern code string according to at least one of types and a number of identification codes included in the code block map. 
     
     
         13 . A method of recognizing a location and orientation of a robot, which travels in a predetermined space, based on a floor pattern code string using floor patterns imaged through a camera installed in the robot, the method comprising:
 extracting, by a map acquisition unit, unit patterns from floor patterns of the predetermined space and acquiring a code block map which is generated by assigning predetermined identification codes to the unit patterns;   acquiring, by a travel image acquisition unit, a travel image of floor patterns imaged through the camera;   extracting, by a travel unit pattern extractor, travel unit patterns from the floor patterns included in the travel image;   identifying, by a code string generator, predetermined travel identification codes corresponding to the travel unit patterns and generating a floor pattern code string; and   calculating, by a calculator, a location and orientation of the robot by comparing the floor pattern code string with the identification codes of the code block map.   
     
     
         14 . The method of  claim 13 , wherein the calculating of the location and orientation of the robot comprises, when the floor pattern code string does not match the identification codes of the code block map, generating a corrected floor pattern code string by correcting the travel identification codes using a predetermined rotation value, and calculating the location and orientation of the robot by comparing the corrected floor pattern code string with the identification codes of the code block map. 
     
     
         15 . The method of  claim 13 , wherein calculating of the location and orientation of the robot comprises, when the floor pattern code string does not match the identification codes of the code block map, generating a rotated code block map by correcting the identification codes of the code block map using a predetermined rotation value and calculating the location and orientation of the robot by comparing the floor pattern code string with the corrected identification codes of the rotated code block map. 
     
     
         16 . The method of  claim 13 , wherein the generating of the floor pattern code string comprises changing a number of travel identification codes included in the floor pattern code string according to at least one of types and a number of identification codes included in the code block map. 
     
     
         17 . A non-transitory computer-readable recording medium on which a program for performing the method of  claim 5  on a computer is recorded. 
     
     
         18 . A non-transitory computer-readable recording medium on which a program for performing the method of  claim 13  on a computer is recorded.